Support `Use Encoder` to toggle between encoder / microstepping
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Description
There have been several cases where we've had an encoder failure and we've needed to switch to microstepping, and then switch back when the encoder issue is resolved. It would be nice if during commissioning both modes were setup and tested, and then the Use Encoder toggle in the motor more OPI would toggle between the two modes. Having an encoder readback PV that shows the position based on the encoder even when using microstepping would also be useful.
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by locating the motor OPI and the commissioning setup referenced in the issue. Determine how encoder and microstepping modes are currently configured, then define how the Use Encoder toggle and encoder-position readback should behave in each mode. Done means both modes can be commissioned and switched through the OPI without losing encoder position visibility.
Written by the indexing model from the issue text.
Assessment
- Domain
- embedded-iot
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Quiet
- Clarity
- Needs clarification
- Newbie friendliness
- 38/100